John Ebel, a senior research scientist at Boston College's Weston Observatory, says people near the epicenter would probably have heard a loud boom, while people farther away would hear a rumbling and some ground shaking, maybe window rattling.

But, he says, "it was way below the threshold for damage."

New Hampshire Homeland Security and Emergency Management said no damage or injuries have been reported.

"Fortunately, this was a minor earthquake with little impact, but we need to be ready," said Perry Plummer, New Hampshire's director of Homeland Security and Emergency Management. "This quake serves as a reminder to all of us - an earthquake can occur at any time with no warning. Put your emergency plan together now and practice it regularly. People who are prepared have a much better chance of getting through an emergency."

For more information on how to be ready when an earthquake hits, go to ReadyNH.gov.